在这项研究中，首先使用模型预测控制 (MPC) 解决方案通过成本函数在无故障和故障模式下控制四旋翼模型。为此，获得的非线性连续模型在围绕平衡点进行线性化后已被离散化。然后，为了抵消故障的影响，提出了一种基于MPC的故障检测与诊断（FDD）和容错控制（FTC）策略。FDD 和 FTC 设计方法基于分析冗余关系 (ARR)，它通过产生残差信号来检测和容忍故障。因此，该方法在不使用观察器的情况下，为故障问题提供了完整的 FTC 解决方案。此外，该解决方案对可能在实际情况下挑战模型的不确定性和干扰具有鲁棒性。本文讨论的故障是一种传感器故障，它被建模为影响侧倾角传感器的非期望函数。然而，提议的 FTC 可以容忍所有类型的故障。该方法的实施结果在各种模拟场景下得到验证。

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In this study, first a model predictive control (MPC) solution is utilized to control the quadrotor model in both fault-free and faulty modes by employing a cost function. For this aim, the obtained non-linear continuous model has been discretized after linearization around an equilibrium point. Then, a fault detection and diagnosis (FDD) and fault tolerant control (FTC) strategy is proposed based on MPC in order to neutralize the effect of fault. The method of FDD and FTC designing is based on analytical redundancy relations (ARRs) which detects and tolerates the fault by producing a residual signal. Therefore, this method presents a complete FTC solution to fault issue without using observer. In addition, this solution has robustness against the uncertainties and disturbances which may challenge the model in practical situations. The discussed fault in this paper is a sensor fault which is modeled as an undesired function which affects the sensor of roll angle. However, the proposed FTC can tolerate all types of faults. The results of implementation of this method are validated under various simulation scenarios.